Enhanced flexible robotic endoscopy apparatus

Abstract

An enhanced flexible robotic endoscopy apparatus includes a main body and flexible elongate shaft. The main body comprises a proximal end, a distal end and a housing that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible. Each of the insertion inlets has insertion axis corresponding thereto, along which flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft.

We claim: 
     
       1. A robotic endoscopy apparatus, comprising:
 a main body comprising a proximal end, a distal end and a housing that extends to the proximal end, the housing comprising a plurality of surfaces and a plurality of insertion inlets which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible; 
 a plurality of flexible elongate assemblies, wherein each of the plurality of flexible elongate assemblies is flexible along its length; 
 wherein at least one of the plurality of flexible elongate assemblies is an actuation assembly comprising:
 a robot arm and a corresponding end effector configured to perform endoscopic procedures according to forces generated by external actuation elements; and 
 a plurality of tendon elements configured to transmit forces from the external actuation elements to the robot arm and the end effector; and 
 an adapter configured to couple the plurality of tendon elements with the external actuation elements, 
 
 a flexible elongate shaft having a proximal end extending away from the distal end of the main body, the flexible elongate shaft comprising a distal end, a central axis, the plurality of channels therewithin for carrying one or more of the plurality of flexible elongate assemblies and an opening disposed at the flexible elongate shaft's distal end for each of the plurality of channels; 
 wherein each of the insertion inlets has insertion axis corresponding thereto, along which the one or more of the plurality of flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft; and 
 wherein each of the plurality of flexible elongate assemblies further comprises:
 a flexible sheath configured to cover the plurality of tendon elements, 
 a flexible elongate outer sleeve configured to carry the plurality of tendon elements covered by the flexible sheath, and 
 a collar element configured to surround at least a portion of the flexible elongate outer sleeve at a predetermined distance away from a distal end of the end effector and configured to engage a longitudinal translation mechanism to enable longitudinal translation of at least one of the plurality of flexible elongate assemblies across a predetermined distance range. 
 
 
     
     
       2. The robotic endoscopy apparatus of  claim 1 , wherein the housing comprises a plurality of surfaces, and the plurality of insertion inlets reside on one of the plurality of surface. 
     
     
       3. The robotic endoscopy apparatus of  claim 1 , further comprising:
 a support function connector assembly configured to couple the main body to an external system for supporting functions including at least one of delivery of insufflation, suction, and irrigation through the flexible elongate shaft of the endoscopy apparatus. 
 
     
     
       4. The robotic endoscopy apparatus of  claim 1 , wherein at least one of the plurality of flexible elongate assemblies is a flexible imaging endoscope assembly comprising:
 an imaging unit configured to capture images of an environment external to the distal end of the flexible elongate shaft in which the end effectors reside; 
 a plurality of tendon elements configured for coupling the external actuation elements to the imaging unit; and 
 an adapter by which the plurality of tendon elements can be interfaced with particular external actuation elements.